JPS62296811A - Combine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a combine harvester in which a reaping pretreatment device is provided at the front of a traveling body equipped with a pair of left and right traveling devices.

[Conventional technology]

In this type of combine harvester, if one of the left or right traveling devices falls into a ridge or the like and the traveling body tilts in the left-right direction,
The attitude of the reaping pre-treatment device will be inclined with respect to the harvested cultivated area, and one end of the reaping device may plunge into the soil, impeding the reaping performance and reducing the reaping height relative to the culm. There were also some inconsistent issues. Therefore, in order to solve this problem, conventionally, the left and right traveling devices were installed so that they could be moved up and down in a reverse manner (see-saw rocking type) with respect to the traveling machine body to which the reaping pretreatment device was attached. There was a configuration in which the posture of the preprocessing device was maintained constant (U, S, Patent No. 3,160,221).

[Problem that the invention seeks to solve]

However, in the configuration described above, the pivot shaft of the reaping pre-processing device to the traveling machine body is provided at approximately the middle position between the left and right sides of the reaping pre-processing device and along the longitudinal direction of the machine body. At the fulcrum shaft part, there is no relative displacement in the height direction of the pre-reaping treatment device with respect to the traveling machine body, and although the inclination angle can be arbitrarily set with respect to the ground, the height is approximately constant. Therefore, the height of the pre-reaping treatment device relative to the ground has been limited to a substantially constant height.

An object of the present invention is to provide a system in which the height of the reaping pretreatment device above the ground can be arbitrarily changed by changing the attachment of the traveling device to the traveling machine body.

[Means for solving problems]

The special configuration according to the present invention is that a pair of left and right traveling devices are attached to the traveling body so that they can be driven up and down independently, and
If the left and right inclination angle of the traveling body with respect to a horizontal reference plane deviates from the target inclination angle, a control means is provided for vertically displacing the traveling device located lower with respect to the traveling body so as to reach the target inclination angle. Its functions and effects are as follows.

[For production]

In other words, since the left and right traveling devices can be raised and lowered independently with respect to the traveling body, the angle of inclination between the line connecting the grounding points of the left and right traveling devices and the traveling body (that is, the inclination angle of the traveling body with respect to the ground)
Even if they are the same, the height of the left and right traveling devices relative to the traveling body can be set arbitrarily. Therefore, the reaping pretreatment device can be set at any inclination angle with respect to the ground (horizontal reference plane), and can also be set at any height.

〔Effect of the invention〕

As a result, there is flexibility in setting the height of the reaping pre-treatment device relative to the ground, so for example, the reaping height relative to the culm can be set to a height that corresponds to the length of the culm, and when turning at the edge of a ridge. It is possible to change the height during reaping work.

Moreover, when correcting the left and right inclination angle by the traveling gear to the target inclination angle, the reason why the inclination angle deviates from the target inclination angle is that in normal fields, one of the traveling gears falls into a ridge, etc. On the other hand, it can be assumed that the traveling device located higher up is located on the cultivated ground, but in this case, it can be determined that the one traveling device is displaced from the reference height.

Therefore, using the position of the upper traveling gear as a reference, the lower traveling gear, which is displaced from the reference position (vehicle height setting value), is raised and lowered to adjust the inclination angle. Since there is no need to move the device, corrections can be made in a short time and are accurate.

〔Example〕

As shown in Fig. 7, the lifting device (1), the lifting device (
A reaping pretreatment device (5) equipped with a reaping device (2) that reaps the husks raised in step 1), and a rear conveyance device (4) that conveys the reaped husks toward the rear threshing device (3). A traveling aircraft equipped with a pair of left and right crawler traveling devices (6), (6)
7) so that it can be vertically swung around the horizontal support shaft (X) by means of an elevating cylinder (8), thereby forming a combine harvester.

Next, the mounting structure of the left and right crawler traveling devices (6), (6) to the traveling body (7) will be explained. As shown in FIGS. 3 and 4, a horizontal frame (10) is connected below the main frame (9) in a rearward-facing position that constitutes the traveling body (7), and this horizontal frame (10) The trunk frames (11) and (11) are connected and fixed. This truck frame (11).

A drive sprocket (12) and a tensigon sprocket (13) are fixedly attached to the front and rear ends of the shaft (11), respectively. The trunk frame (11) is formed in the shape of a downwardly open channel, and a pair of front and rear movable frames (15A) pivotally support a plurality of free wheel bodies (14) in the open space.
) and (15B) are attached so that they can be moved up and down relative to each other.

At an intermediate position of the group of idle wheels (14), there is a large diameter idle wheel (16) that can swing up and down on the track frame (11).
is supported.

The front and rear movable frames (15A) and (15B) respectively have front and rear hell cranks (17A) and (17B) which are pivotably supported on the truck frame (11) so as to be able to swing up and down.
) is attached to one end, and the front and rear bell cranks (17A) and (17B) are connected by a connecting rod (18), and the other end of the rear bell crank (17B) is equipped with a lifting cylinder (19) for rolling. are connected so that the front and rear movable frames (15A) and (15B) can be raised and lowered by the same amount in the same direction.

As shown in FIG. 4, a volume-type traveling device for detecting the amount of rocking of the rear bell crank (17B) is installed at the connection portion between the rolling lifting cylinder (19) and the rear bell crank (17B). A height sensor (20) is provided, and the detected value from the height sensor (20) is sent to the control device (21).
Enter the value into the volume-type vehicle height setting device (22) on the hand side.
) The movable frame (15A) is controlled by a rolling lifting cylinder (19) with a control valve (29) so that the vehicle height is set to the vehicle height set value.

Trunk frame (11) of (15B), (11)(
11) can be changed relative to the height. In this case, the vehicle height set value by the vehicle height setting device (22) represents the height of one of the traveling devices (6) relative to the traveling body (7), and the vehicle height is located higher than the traveling body (7). Traveling device (6
) represents the height of

On the other hand, when setting the tilted attitude of the traveling aircraft (7),
Based on the detected value of the gravity type tilt sensor (23) that detects the left and right inclination of the traveling body (7), the movable unit corresponding to the traveling device (6) located below the traveling body (7) The control valve adjusts the height of the frames (15A) and (15B) to maintain the horizontal inclination angle of the traveling aircraft (7) with respect to the horizontal reference plane (ground) at the set value from the inclination setting device (28). (29) Lifting cylinder for rolling with (
19) so that rolling control is possible. Above are the sensors (20), (23), various setting devices (22)
), (28), and a control device for these (2
1) is referred to as a control means (31).

A volumetric lift detection sensor (24) is provided at the horizontal support shaft (X) of the pre-reaping treatment device (5) to the traveling machine body (7). The reaping pre-treatment device (5) is configured to detect the amount of elevation relative to the traveling machine (7), and is based on the detected value from the ultrasonic ground height sensor (33) installed near the pulling frame.
The control valve (
30) The mowing height can be controlled by the attached lifting cylinder (8).

Based on the above configuration, the elevating and lowering control of the crawler traveling device (movable frame) will be explained with reference to the flowchart shown in FIG. 5(a), Cr:I). The rolling lifting cylinder (19) is provided with limit switches (25), (25) at the end of its movable stroke, and when this limit switch (25) is activated, the tilt angle cannot be greater than the angle determined by this limit position. Therefore, if the tilt angle warning lamp (34) is activated and the tilt angle is set with the limit switch (25) activated, the vehicle height will be different from the set value. When the vehicle height setting is prioritized over the vehicle height setting, the vehicle height warning lamp (26) is turned on. The control flow first confirms that both warning lamps (26) and (34) are not lit, and then sets the height for either of the left and right traveling devices (6) using the vehicle height setting device (22). Incorporating position information from the sensors (20) and (20), the values are displayed on the LED position display device (27),
(27) and select the automatic/manual control mode using the changeover switch (32) (step 2). In step (2), the target value shown in the figure is calculated. As shown in FIG. 6, the combine angle (αI) is an angle when the traveling devices (6), (6) are already inclined with respect to the traveling body (7) at the time of starting the control. Then, the detected angle (α2) by the tilt sensor (23) and the tilt setting device (28)
The target angle (α4) for operating the rolling lifting cylinder (19) is calculated from the set angle (α, ) with respect to the horizontal reference plane from the rolling lifting cylinder (19).
(operation length (target length)) is calculated (step ■).

Once the target length is determined, lift cylinder for rolling (19)
If the target length is larger than the variable length, the rolling lifting cylinder (19) is moved to the stroke end using this variable length as the target length. This fact is indicated by the tilt angle warning lamp (34) (step 2).

Next, + or - of the target angle (α4) is determined. 10 refers to the case where the traveling aircraft (7) is tilted to the right, -
indicates opposite operation. In the case of 10, the left running gear (6
) is calculated from the vehicle height set value and target length. If this target position exceeds the stroke range of the left rolling lifting cylinder (19), the target position of the traveling device (6) is calculated from the vehicle height setting value and the target length. 19) is set at the maximum stroke position (upper limit position), and the right traveling device (6) is set at a target position at a position where the cylinder length is shorter than the maximum stroke position by the target product. In addition, when the target position of the left traveling device (6) falls within the rolling lifting cylinder (19), the target position of the right traveling device (6) is set to the vehicle height setting value, and the left traveling device (6) is set to the vehicle height setting value. The target position of the device (6) is set to the vehicle height setting value plus the target length. When the rolling lift cylinder (19) has reached the stroke end, the vehicle height is not at the set value, so the vehicle height warning lamp (26) is turned on. If the angle (α4) is -, you can perform the opposite procedure to the case of 10 (step ■
).

Once the target positions of the left and right traveling devices (6), (6) are determined as described above, the rolling lifting cylinder (19) is
The required operating length (corrected length) is determined, and if it is within the dead zone (α), the operation of the rolling lifting cylinder (19) is stopped, and if it exceeds this, the rolling lifting cylinder (19) is stopped by the corrected length. 19).

Next, when switching to manual control using the changeover switch (32), control is performed so that the target angle becomes the value set by the inclination angle setting device (28).

[Another example]

(2) In the embodiment described above, only the free wheel body (14) is moved up and down, but the crawler traveling device (6) as a whole may be moved up and down.

(2) The actuator of the crawler traveling device (6) may be a combination of a pneumatic cylinder or a screw mechanism and an electric motor.

○ The traveling device (6) may be a tire type instead of a crawler type, and its type is not specified.

■ The combine harvester may be of the front frame insertion type.

Further, the setting value by the vehicle height setting device (22) may be one that sets the average height position of the left and right traveling device (6). In this case, the vehicle height setting value plus 172 target length is set as the target position of both traveling devices (6), (6).

[Brief explanation of the drawing]

The drawings show an embodiment of the combine harvester according to the present invention, in which Fig. 1 is a block diagram showing the control means, Fig. 2 is a front view showing a panel on which various setting devices are arranged, and Fig. 3 is a lift control of the traveling device. 4 is a longitudinal cross-sectional rear view showing the elevating and lowering control means for the traveling device, FIG. An explanatory diagram showing the relationship, FIG. 7 is an overall side view. (5)... Pre-reaping treatment device, (6)...
・Traveling device, (7)... Traveling aircraft, (31)・
...control means.

Claims (1)

[Claims] A traveling aircraft equipped with a pair of left and right traveling devices (6), (6)
7) is a combine equipped with a reaping pretreatment device (5) in the front part, and the pair of left and right traveling devices (6), (6) can be independently driven up and down with respect to the traveling body (7). At the same time, if the horizontal inclination angle of the traveling aircraft (7) with respect to the horizontal reference plane deviates from the target inclination angle, the traveling aircraft (7)
control means (
31).